Control device and control system

Abstract

There is provided a control device including: a control unit that performs driving control of a vehicle. The control unit temporarily continues automated traveling of the vehicle on a basis of a surrounding environment estimated by a remaining function of a compound eye camera, in a case where a malfunction of the compound eye camera used in recognition of the surrounding environment is detected during execution of automated driving control for the vehicle.

The invention claimed is: 
     
       1. A control device comprising:
 circuitry configured to: 
 perform automated driving control of a vehicle using a compound eye camera including a first camera and a second camera to recognize a surrounding environment based on generating a disparity map that contains three-dimensional information; 
 detect a malfunction of the first camera; and 
 continue automated driving control of the vehicle after detecting the malfunction using only the second camera to recognize the surrounding environment based on analysis of compartment lines in a single image of a road captured only by the second camera in which the malfunction is not detected and based on a calibrated vanishing point determined from images previously obtained by the first camera and the second camera. 
 
     
     
       2. The control device according to  claim 1 , wherein the circuitry is further configured to continue the automated driving control of the vehicle, on a basis of a road region estimated from the image captured by the second camera in which the malfunction is not detected. 
     
     
       3. The control device according to  claim 2 , wherein the road region is estimated on a basis of a compartment line included in the image captured by the second camera in which the malfunction is not detected, and the circuitry is further configured to cause the vehicle to perform the automated driving control in the road region, so as not to deviate from the compartment line. 
     
     
       4. The control device according to  claim 1 , wherein the circuitry is further configured to continue the automated driving control of the vehicle on a basis of a position of a forward vehicle estimated from the image captured by the second camera in which the malfunction is not detected. 
     
     
       5. The control device according to  claim 4 , wherein the circuitry is further configured to continue the automated driving control of the vehicle, so as to follow the forward vehicle, on a basis of an estimated distance to the forward vehicle. 
     
     
       6. The control device according to  claim 1 , wherein the circuitry is further configured to continue the automated driving control of the vehicle, until a driving restart by a driver is detected. 
     
     
       7. The control device according to  claim 6 , wherein the circuitry is further configured to execute a control to stop the vehicle, when the driving restart cannot be performed by the driver within a predetermined period of time. 
     
     
       8. The control device according to  claim 6 , wherein the circuitry is further configured to execute a control to stop the vehicle, when an estimated restart time that the driver starts driving exceeds a predetermined period of time. 
     
     
       9. The control device according to  claim 6 , wherein the circuitry is further configured to execute a vehicle function on a basis of the surrounding environment estimated from an image captured by the second camera in which the malfunction is not detected, after the driving restart by the driver is completed. 
     
     
       10. The control device according to  claim 9 , wherein the circuitry is further configured to execute at least one of warning relevant to deviation from a compartment line, warning relevant to a distance to a second vehicle in a forward direction, or marker recognition, after the driving restart by the driver is completed. 
     
     
       11. The control device according to  claim 1 , wherein the circuitry is further configured to cause a report regarding a repair request of the first camera to be reported to a driver, in the case where the malfunction of the first camera is detected. 
     
     
       12. The control device according to  claim 11 , wherein the circuitry is further configured to cause the report regarding the repair request of the first camera to be reported to the driver at a time of an operation start of the vehicle, until the first camera becomes fully operational, and causes a log regarding the report to be recorded. 
     
     
       13. The control device according to  claim 1 , wherein the circuitry is further configured to cause an estimated cause of the malfunction to be reported to at least one of a driver or another person, in the case where the malfunction of the first camera is detected. 
     
     
       14. The control device according to  claim 1 , wherein the circuitry is further configured to execute a control to stop the vehicle, when malfunctions are detected in both of the first camera and the second camera. 
     
     
       15. A method executed by circuitry, the method comprising:
 performing automated driving control of a vehicle using a compound eye camera including a first camera and a second camera to recognize a surrounding environment based on generating a disparity map that contains three-dimensional information; 
 detecting a malfunction of the first camera; and 
 continuing automated driving control of the vehicle after detecting the malfunction using only the second camera to recognize the surrounding environment based on analysis of compartment lines in a single image of a road captured only by the second camera in which the malfunction is not detected and based on a calibrated vanishing point determined from images previously obtained by the first camera and the second camera. 
 
     
     
       16. A non-transitory computer-readable storage medium having embodied thereon a program which, when executed by a computer causes the computer to execute a method comprising:
 performing automated driving control of a vehicle using a compound eye camera including a first camera and a second camera to recognize a surrounding environment based on generating a disparity map that contains three-dimensional information; 
 detecting a malfunction of the first camera; and 
 continuing automated driving control of the vehicle after detecting the malfunction using only the second camera to recognize the surrounding environment based on analysis of compartment lines in a single image of a road captured only by the second camera in which the malfunction is not detected and based on a calibrated vanishing point determined from images previously obtained by the first camera and the second camera. 
 
     
     
       17. A control system comprising:
 a compound eye camera including a first camera and a second camera; and 
 a control device comprising circuitry configured to: 
 perform automated driving control of a vehicle using a compound eye camera including the first camera and the second camera to recognize a surrounding environment based on generating a disparity map that contains three-dimensional information; 
 detect a malfunction of the first camera; and 
 continue automated driving control of the vehicle after detecting the malfunction using only the second camera to recognize the surrounding environment based on analysis of compartment lines in a single image of a road captured only by the second camera in which the malfunction is not detected and based on a calibrated vanishing point determined from images previously obtained by the first camera and the second camera.